Multibody full Jacobian?
Posted: Fri Apr 28, 2017 6:05 am
Hi,
Is there a way to get the full Jacobian, all I can see are the MultiBodyImpl::getBodyJacobian's, which I take to mean a sub branch of the whole, great for if you want to do Jacobian transpose control or something.
Is there a way to get the full Jacobian, all I can see are the MultiBodyImpl::getBodyJacobian's, which I take to mean a sub branch of the whole, great for if you want to do Jacobian transpose control or something.